An exoskeleton robot

Abstract

This utility model discloses an exoskeleton robot, the structure of which includes a waist fixation mechanism and a moving mechanism movably connected to the waist fixation mechanism. The waist fixation mechanism includes a waist fixation plate and waist fixation rings provided at its two extended ends. A positioning seat is provided on the inner side of the waist fixation plate, and a support seat is slidably provided at the front end of the positioning seat. A lumbar and back support unit is connected to the front end of the support seat. The lumbar and back support unit includes a main support part and secondary support parts located on both sides of the main support part. The distance between the two secondary support parts and the main support part is adjustable to adapt to the auxiliary support of the waist of different people. This utility model can adapt to the waist characteristics of people of different body types by adjusting the front and rear of the lumbar and back support unit and adjusting the lateral distance of the secondary support parts, thus solving the problem of poor adaptability of existing fixation structures.

Description

Technical Field

[0001] This utility model relates to the field of assistive robot technology, and more specifically, to an exoskeleton robot. Background Technology

[0002] Exoskeleton robots, as devices that assist human movement, are widely used in rehabilitation medicine, industrial assistance, and other scenarios. The lumbar support structure is an important component of exoskeleton robots, and its adaptability directly affects the wearing comfort and assistive effect of the device.

[0003] The lumbar support structure of existing exoskeleton robots is mostly of a fixed size, which makes it difficult to adapt to the lumbar characteristics of people with different body types, and can easily lead to problems such as discomfort or poor support. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide an exoskeleton robot to solve the above-mentioned technical problems.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an exoskeleton robot, including a waist fixation mechanism and a moving mechanism movably connected to the waist fixation mechanism. The waist fixation mechanism includes a waist fixation plate and waist fixation rings provided at its two extended ends. A positioning seat is provided on the inner side of the waist fixation plate, and a support seat is slidably provided at the front end of the positioning seat. A lumbar and back support unit is connected to the front end of the support seat. The lumbar and back support unit includes a main support part and secondary support parts located on both sides of the main support part. The distance between the two secondary support parts and the main support part is adjustable to adapt to the auxiliary support of the waist of different people.

[0006] The present invention is further configured such that: a positioning groove is formed at the front end of the positioning seat, an adjusting screw is rotatably arranged in the positioning groove, a positioning block is provided at the rear end of the support seat that is adapted to the positioning groove and cooperates with the adjusting screw, and the upper end of the adjusting screw extends through to the outside of the positioning seat and is connected to an adjusting knob.

[0007] The present invention is further configured such that: the cross-section of the positioning seat is a dovetail structure, and the rear end of the support seat is provided with a guide seat that is semi-enclosed to the positioning seat.

[0008] The present invention is further configured such that: two adjustment grooves are opened on the left and right sides of the main support part, the two secondary support parts are respectively adapted to the two adjustment grooves, and the outer end of the secondary support part is provided with an arc-shaped covering part.

[0009] The present invention is further configured such that: two through holes are opened on the top surface of the main support part at the corresponding opening ends of the two adjustment grooves, and receiving holes are formed at the inner ends of the two through holes. The inner diameter of the receiving holes is larger than the inner diameter of the through holes, and a locking pin is movably arranged in the receiving holes. One end of the locking pin is formed with a mating rod extending through to the outside of the through hole, and a lever is connected to the outer end of the mating rod. Several positioning holes adapted to the locking pin are arrayed on the top surface of the secondary support part.

[0010] The present invention is further configured such that: the lever includes a force-bearing part and a rotating part, the lever is formed with a groove, the rotating part is formed with a contact arc surface, the outer end of the mating rod extends into the groove and is rotatably connected to the rotating part, and the outer ring of the mating rod is fitted with an elastic element between the locking pin and the inner side wall of the receiving hole.

[0011] The present invention is further provided with protective pads on the inner sides of both the main support part and the secondary support part.

[0012] In summary, this utility model has the following beneficial effects: by adjusting the front and back of the lumbar support unit and adjusting the lateral spacing of the secondary support part, it can adapt to the lumbar characteristics of people with different body types, solving the problem of poor adaptability of existing fixed structures; the threaded transmission adjustment structure and the toggle locking mechanism achieve precise adjustment and quick fixation, making operation simple and efficient; the arc-shaped covering part conforms to the curve of the human body, protects the soft pad, reduces pressure, and improves the comfort of wearing for a long time. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0015] Figure 2 This is a three-dimensional structural diagram of the lumbar support unit of this utility model;

[0016] Figure 3 This is a top view of the lumbar support unit of this utility model.

[0017] Figure 4 This is a cross-sectional view of the lumbar support unit structure of this utility model;

[0018] Figure 5 This is a schematic diagram showing the cooperation between the main support part and the secondary support part of this utility model;

[0019] Figure 6 for Figure 5 A magnified view of the local structure at point A in the middle.

[0020] Reference numerals: 1. Waist fixing mechanism; 10. Moving mechanism; 2. Positioning seat; 20. Support seat; 21. Positioning groove; 22. Adjusting screw; 23. Positioning block; 24. Adjusting knob; 25. Guide seat; 3. Waist and back support unit; 30. Main support part; 31. Secondary support part; 32. Adjusting groove; 33. Arc-shaped covering part; 34. Protective pad; 4. Through hole; 40. Accommodating hole; 41. Locking pin; 42. Matching rod; 43. Positioning hole; 5. Turning knob; 50. Force-applying part; 51. Rotating part; 52. Groove; 53. Contact arc surface; 54. Elastic element; 6. Waist fixing plate; 60. Waist fixing ring. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figure 1-6 As shown, an exoskeleton robot according to an embodiment of the present invention includes a waist fixation mechanism 1 and a moving mechanism 10 movably connected to the waist fixation mechanism 1. The waist fixation mechanism 1 includes a waist fixation plate 6 and waist fixation rings 60 provided at its two extended ends. A positioning seat 2 is provided on the inner side of the waist fixation plate 6. A support seat 20 is slidably provided at the front end of the positioning seat 2. A back support unit 3 is connected to the front end of the support seat 20. The back support unit 3 includes a main support part 30 and secondary support parts 31 located on both sides of the main support part 30. The distance between the two secondary support parts 31 and the main support part 30 is adjustable to adapt to the auxiliary support of the waist of different people.

[0023] In use, the waist fixation mechanism 1 adapts to the human waist through the waist fixation plate 6 and the waist fixation rings 60 on both sides. The positioning seat 2 is located on the inner side of the waist fixation plate 6. The support seat 20 can slide along the positioning seat 2 to adjust the up and down position of the waist and back support unit 3, so that the support fits the waist curve better. The main support part 30 and the secondary support part 31 of the waist and back support unit 3 form a closed support. The distance between the secondary support part 31 and the main support part 30 is adjustable, which can be adapted to people with different waist sizes, thus solving the problem of poor adaptability of the existing fixation structure.

[0024] The inner side of the waist fixing ring 60 fits against both sides of the human waist, and a control box is movably installed on the inner side of each waist fixing ring 60. The control box contains a controller for regulating the overall operation of the exoskeleton robot. The top surface of the control box is equipped with multiple control buttons, each of which is electrically connected to the controller. By pressing the corresponding control button, instructions can be sent to the controller to control the movement of the moving mechanism 10, the adjustment of the support unit, and other functions.

[0025] Furthermore, the moving mechanism 10 is used to assist the movement of the human lower limbs. It is divided into an upper movable arm and a lower movable arm in a vertical direction from high to low. The top of the upper movable arm is hinged to the side of the waist fixing mechanism 1 away from the waist fixing plate. The upper movable arm and the lower movable arm are hinged together by a hinge shaft to realize relative rotation between the two and adapt to the flexion and extension movements of the human leg. Both the upper and lower movable arms are provided with leg fixing rings corresponding to the positions of the human thigh and calf. The leg fixing rings can bind and fix the human leg to the corresponding movable arm. The bottom end of the lower movable arm is connected to a foot fixing plate through a hinge structure. The foot fixing plate is used to support the human foot. Multiple fixing straps are movably installed on its surface. The fixing straps can be wrapped around the foot and fixed by a buckle structure to stably restrain the foot on the foot fixing plate.

[0026] The positioning seat 2 has a positioning groove 21 formed at the front end, and an adjusting screw 22 is rotatably installed in the positioning groove 21. The support seat 20 has a positioning block 23 at the rear end that is adapted to the positioning groove 21 and cooperates with the adjusting screw 22. The upper end of the adjusting screw 22 extends through to the outside of the positioning seat 2 and is connected to an adjusting knob 24.

[0027] In use, the positioning groove 21 at the front end of the positioning seat 2 is provided with an adjusting screw 22, and the positioning block 23 at the rear end of the support seat 20 (the positioning block 23 has a threaded hole that matches the screw) cooperates with the adjusting screw 22. By rotating the adjusting knob 24, the support seat 20 can be driven to slide along the positioning groove 21 to realize the position adjustment of the back support unit 3.

[0028] This structure achieves precise adjustment through threaded transmission, is easy to operate and has stable positioning, and can adapt to the support needs of different people in the upper and lower dimensions of the waist.

[0029] The positioning seat 2 has a dovetail-shaped cross-section, and the rear end of the support seat 20 is provided with a guide seat 25 that is semi-enclosed to the positioning seat 2.

[0030] When in use, the dovetail-shaped positioning seat 2 and the semi-enclosed guide seat 25 form a matching structure, which plays a guiding and anti-dislodgement role during the sliding process of the support seat 20, ensuring the stability of the adjustment process and preventing the support seat 20 from shifting and affecting the support effect.

[0031] Two adjustment slots 32 are provided on the left and right sides of the main support part 30, and two auxiliary support parts 31 are adapted to the two adjustment slots 32 respectively. The outer end of the auxiliary support part 31 is provided with an arc-shaped covering part 33.

[0032] In use, the adjustment groove 32 of the main support part 30 provides a lateral sliding track for the secondary support part 31. The arc-shaped covering part 33 at the outer end of the secondary support part 31 can conform to the curve of the human side waist. This structure realizes the adjustment of the spacing of the secondary support parts 31 through lateral sliding. Combined with the arc-shaped covering design, it improves the fit of the side waist support.

[0033] Two through holes 4 are formed on the top surface of the main support part 30 at the corresponding opening ends of the two adjustment grooves 32. The inner ends of the two through holes 4 are formed with receiving holes 40. The inner diameter of the receiving holes 40 is larger than the inner diameter of the through holes 4. A locking pin 41 is movably arranged in the receiving hole 40. One end of the locking pin 41 is formed with a mating rod 42 that extends through to the outside of the through hole 4. The outer end of the mating rod 42 is connected to a lever 5. The top surface of the secondary support part 31 is arrayed with a number of positioning holes 43 that are adapted to the locking pin 41. The lever 5 includes a force part 50 and a rotating part 51. The lever 5 is formed with a groove 52. The rotating part 51 is formed with a contact arc surface 53. The outer end of the mating rod 42 extends into the groove 52 and is rotatably connected to the rotating part 51. An elastic element 54 is sleeved between the locking pin 41 and the inner wall of the receiving hole 40.

[0034] When in use, the locking pin 41 in the receiving hole 40 can be engaged in the positioning hole 43 of the sub-support part 31 under the action of the elastic element 54, thereby locking the sub-support part 31; turning the dial 5 can drive the mating rod 42 to pull the locking pin 41 out of the positioning hole 43 and release the lock. This locking structure is easy to operate and can quickly complete the fixing and adjustment switching of the sub-support part 31.

[0035] The force-applying part 50 of the lever 5 facilitates the application of force, and the contact arc surface 53 of the rotating part 51 can reduce discomfort during operation; the elastic element 54 provides a restoring force for the locking pin 41 to ensure the stability of the locking state. This structure takes into account both operational comfort and locking reliability.

[0036] Specifically, the working principle of the dial 5 is as follows: In the initial state, the dial 5 is horizontally positioned, and the elastic element 54 is in a naturally extended state. Its elastic force pushes the locking pin 41 outward from the receiving hole 40 and forms a locking fit with the positioning hole 43 on the top surface of the secondary support 31, thereby locking the position of the secondary support 31. When it is necessary to adjust the spacing of the secondary support 31, the operator applies external force to the force-bearing part 50, causing the dial 5 to rotate around the connection point between the mating rod 42 and the rotating part 51. During this process, the contact arc surface 53 of the rotating part 51 gradually contacts the upper surface of the main support 30 and generates a pushing force, causing the dial 5 to gradually rotate from the horizontal state to the vertical state. At the same time, the mating rod 42 is driven by the dial 5. Pull the locking pin 41 inward towards the through hole 4, causing the locking pin 41 to retract into the receiving hole 40 against the elastic force of the elastic element 54. At this time, the locking pin 41 and the positioning hole 43 are released, and the secondary support part 31 can slide freely along the adjustment groove 32 of the main support part 30. After the secondary support part 31 is adjusted to the target position, the operator releases the force part 50, and the elastic force of the elastic element 54 drives the locking pin 41 to extend outward again and re-lock into the positioning hole 43 at the corresponding position. At the same time, the dial 5 automatically resets to the lateral state under the reaction force of the elastic element 54, completing the re-locking of the secondary support part 31. The groove 52 on the dial 5 provides sufficient clearance for the mating rod 42 during rotation, avoiding mutual interference between components.

[0037] The inner sides of both the main support part 30 and the secondary support part 31 are provided with protective pads 34.

[0038] When in use, the protective pads 34 on the inner sides of the main support part 30 and the secondary support part 31 are made of elastic material, which can reduce the pressure between the support structure and the human body and improve the comfort of wearing for a long time.

[0039] The protective pad 34 is fixed using a conventional installation method. Specifically, several evenly distributed mounting holes are pre-drilled on the inner surfaces of the main support 30 and the secondary support 31. Connecting posts are positioned on the protective pad 34 corresponding to the mounting holes. The diameter of the connecting posts is slightly smaller than the diameter of the mounting holes, and the ends of the connecting posts have a certain taper to facilitate insertion into the mounting holes. When the protective pad 34 is fitted onto the inner surfaces of the main support 30 and the secondary support 31, the connecting posts are aligned with the mounting holes and pressed firmly to ensure they are tightly embedded within the mounting holes. The protective pad 34 is initially fixed. To further enhance the fixing effect, a loop of Velcro is provided around the edge of the protective pad 34, and hooks of Velcro are provided at corresponding positions on the inner edges of the main support 30 and the secondary support 31. After the protective pad 34 is initially fixed by the connecting post and the mounting hole, the loop of Velcro on the edge of the protective pad 34 is attached to the hooks of Velcro on the inner sides of the main support 30 and the secondary support 31, thereby firmly installing the protective pad 34 on the inner sides of the main support 30 and the secondary support 31.

[0040] This installation method facilitates the installation and removal of the protective pad 34, making it easy to clean and replace. It also ensures that the protective pad 34 will not easily fall off during use, ensuring that it can continue to reduce pressure and improve comfort. The installation method of the protective pad 34 is a conventional structure, so it is not shown in the figure.

[0041] The specific working process of this utility model is as follows:

[0042] The waist fixing mechanism 1 is initially fixed to the waist of the human body by the waist fixing ring, and the moving mechanism 10 is bound to the lower limbs of the human body by the leg fixing ring, foot fixing plate and fixing strap.

[0043] Rotate the adjustment knob 24 to drive the support base 20 to slide along the positioning base 2, and adjust the up and down position of the waist and back support unit 3 to fit the waist curve; turn the knob 5 to release the lock, slide the secondary support part 31 along the adjustment groove 32 of the main support part 30, adjust to the appropriate waist spacing, and then release the knob 5, and the locking post 41 will automatically reset and lock.

[0044] The controller is operated by the control button on the waist fixation ring to regulate the flexion and extension movements of the moving mechanism 10, thereby assisting in the movement of the human lower limbs.

[0045] It should also be noted that the terms used in this utility model, such as "front", "rear", "vertical", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this utility model.

[0046] The above description is merely a preferred embodiment of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are protected. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should also be considered within the protection scope of this utility model.

Claims

1. An exoskeleton robot, comprising a waist fixation mechanism (1) and a movement mechanism (10) movably connected to the waist fixation mechanism (1), characterized in that: The waist fixation mechanism (1) includes a waist fixation plate (6) and waist fixation rings (60) provided at its two extended ends. A positioning seat (2) is provided on the inner side of the waist fixation plate (6). A support seat (20) is slidably provided at the front end of the positioning seat (2). A back support unit (3) is connected to the front end of the support seat (20). The back support unit (3) includes a main support part (30) and secondary support parts (31) located on both sides of the main support part (30). The distance between the two secondary support parts (31) and the main support part (30) is adjustable to adapt to the auxiliary support of the waist of different people.

2. The exoskeleton robot according to claim 1, characterized in that: The positioning seat (2) has a positioning groove (21) formed at the front end. An adjusting screw (22) is rotatably arranged in the positioning groove (21). The support seat (20) has a positioning block (23) at the rear end that is adapted to the positioning groove (21) and cooperates with the adjusting screw (22). The upper end of the adjusting screw (22) extends through to the outside of the positioning seat (2) and is connected to an adjusting knob (24).

3. The exoskeleton robot according to claim 2, characterized in that: The positioning seat (2) has a dovetail-shaped cross-section, and the rear end of the support seat (20) is provided with a guide seat (25) that is semi-enclosed to the positioning seat (2).

4. The exoskeleton robot according to claim 1, characterized in that: The main support (30) has two adjustment slots (32) on its left and right sides respectively. The two auxiliary support parts (31) are adapted to the two adjustment slots (32) respectively, and the outer end of the auxiliary support part (31) is provided with an arc-shaped covering part (33).

5. The exoskeleton robot according to claim 4, characterized in that: Two through holes (4) are provided on the top surface of the main support part (30) at the corresponding opening ends of the two adjustment grooves (32). The inner ends of the two through holes (4) are formed with receiving holes (40). The inner diameter of the receiving holes (40) is larger than the inner diameter of the through holes (4). A locking pin (41) is movably arranged in the receiving hole (40). One end of the locking pin (41) is formed with a mating rod (42) extending through the through hole (4). The outer end of the mating rod (42) is connected to a dial (5). The top surface of the secondary support part (31) is arrayed with a number of positioning holes (43) that are adapted to the locking pin (41).

6. The exoskeleton robot according to claim 5, characterized in that: The dial (5) includes a force-bearing part (50) and a rotating part (51). The dial (5) has a groove (52) formed on it. The rotating part (51) has a contact arc surface (53) formed on it. The outer end of the mating rod (42) extends into the groove (52) and is rotatably connected to the rotating part (51). The outer ring of the mating rod (42) is fitted with an elastic element (54) between the locking pin (41) and the inner wall of the receiving hole (40).

7. The exoskeleton robot according to claim 1, characterized in that: The inner sides of the main support (30) and the secondary support (31) are provided with protective pads (34).

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